Disturbance observer–based finite‐time fault tolerant control of quadrotor unmanned aerial vehicles with command filtered and event‐triggered techniques
Yue Sun,
Yulin Gai,
Ming Chen
et al.
Abstract:This article primarily focuses on the finite‐time fault‐tolerant tracking control problem of quadrotor unmanned aerial vehicle (UAV) systems. Our main innovation points are: (1) A simple cubic form of Lyapunov function is applied to the design of the position ring controller of the quadrotor UAV; (2) The command filtering technology effectively solves the challenge of derivation of complex coupling matrixs in the controller design process; (3) An improved disturbance observer and a variable threshold event‐tri… Show more
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